CN113819871A - Thickness measuring robot and thickness measuring method - Google Patents

Thickness measuring robot and thickness measuring method Download PDF

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Publication number
CN113819871A
CN113819871A CN202111286362.8A CN202111286362A CN113819871A CN 113819871 A CN113819871 A CN 113819871A CN 202111286362 A CN202111286362 A CN 202111286362A CN 113819871 A CN113819871 A CN 113819871A
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China
Prior art keywords
module
detection
thickness
protective film
driving
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Granted
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CN202111286362.8A
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Chinese (zh)
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CN113819871B (en
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禤俊鹏
李隆昌
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Dongguan Jiancong Technology Co ltd
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Dongguan Jiancong Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)

Abstract

The invention relates to the technical field of thickness measuring devices, in particular to a thickness measuring robot and a thickness detecting method, wherein the thickness measuring robot comprises a walking device; the self-adaptive probe device is arranged on the walking device; the adaptive probe device includes: a detection module; the driving module is connected with the detection module and used for driving the detection module to lift; the first sensing module is mounted on the detection module; the second sensing module is arranged on the driving module and used for sensing the position of the detection module; and a protection module. The invention solves the problems that the traditional measuring mode can damage the constructed waterproof coating, thereby affecting the waterproof performance of the coating, being difficult to apply on a construction site and the like.

Description

Thickness measuring robot and thickness measuring method
Technical Field
The invention relates to the technical field of thickness measuring devices, in particular to a thickness measuring robot and a thickness detecting method.
Background
The waterproof layer is a material layer provided for preventing rainwater from entering a roof, underground water from permeating walls, basements and underground structures, and indoor water from permeating floors, wall surfaces and the like.
In building construction, the use of a waterproof layer is one of essential processes for ensuring the waterproof property of a building, but the thickness of the waterproof layer in building construction needs to be detected in order to avoid the waterproof layer from meeting the specified waterproof requirement due to the fact that a construction party needs to steal labor, reduce materials and adulterate materials.
However, the traditional measurement mode can damage the constructed waterproof coating, so that the waterproof performance of the coating is influenced, and the coating is difficult to apply on a construction site.
Disclosure of Invention
Therefore, it is necessary to provide a thickness measuring robot and a thickness measuring method aiming at the problems of the conventional technology, the thickness measuring robot has reasonable structural design, realizes nondestructive thickness measurement, has high feasibility and is suitable for being used in a construction site.
A thickness measuring robot comprising:
a traveling device; and
the self-adaptive probe device is arranged on the walking device;
the adaptive probe device includes:
a detection module;
the driving module is connected with the detection module and is used for driving the detection module to move towards the detected object;
the first sensing module is mounted on the detection module;
the second sensing module is arranged on the driving module and used for sensing the position of the detection module; and
a protection module; the protection module and the detection module are correspondingly arranged.
In one embodiment, the walking device comprises:
a frame body;
the walking module is mounted at the bottom of the rack body and used for driving the rack body to move; and
and the automatic obstacle avoidance module is arranged on one side of the frame body and is used in cooperation with the walking module.
In one embodiment, the detection module comprises:
a detection probe assembly;
the mobile station is in driving connection with the driving module, and the first sensing module is mounted at the bottom of the mobile station;
the bracket is sleeved on the periphery of the detection probe assembly;
the sensing piece is sleeved on the periphery of the detection probe assembly; and
an elastic member connecting the mobile station with the support.
In one embodiment, the inspection probe assembly comprises:
a thickness gauge probe member;
the clamping head is sleeved on the periphery of the probe piece of the thickness gauge; and
and the probe shell is arranged between the clamping head and the probe piece of the thickness gauge.
In one embodiment, the resilient member comprises:
a first positioning column mounted to the mobile station;
the second positioning column is arranged on the support; and
a spring member connecting the first positioning post with the second positioning post.
In one embodiment, the driving module includes:
mounting a plate;
the number of the supporting plates is at least two, and the two groups of supporting plates are arranged on the mounting plate;
the lifting fixing plate is arranged on the supporting plate;
the lifting driving piece is arranged on the lifting fixing plate;
the lifting driving piece is in driving connection with the screw rod so as to drive the mobile platform to lift; the sliding rod is mounted on the mounting plate and is abutted to the lifting fixing plate; and
the sleeve is arranged on the mobile station and is in sliding fit with the sliding rod.
In one embodiment, the first sensing module comprises a plurality of groups of first sensing switches, and the first sensing switches are mounted at the bottom of the mobile station and used for sensing the relative positions of the sensing pieces; the second induction module comprises a second induction switch, and the second induction switch is installed on the lifting fixing plate and used for inducing the relative position of the mobile station.
In one embodiment, the protection module comprises:
the water suction pump is mounted on the lifting fixing plate;
the protective film is arranged at the bottom of the detection probe assembly, the protective film is a soft transparent protective film, and a flow channel structure is arranged on the protective film;
one end of the water suction pump is connected with the water tank, the other end of the water suction pump is connected with the protective film, and the water suction pump pumps liquid in the water tank to the protective film;
the film fixing plate is arranged on the clamping head and used for fixing the protective film, the film fixing frame is provided with a detection cavity and a water injection hole, and the protective film is fixed on the film fixing plate and covers the detection cavity; and
a fixing element for fixing the protective film on the film fixing plate.
A thickness detection method comprises the following steps:
s1: determining a detection area: scanning, drawing and path planning are carried out on the whole construction area according to detection requirements by means of a GPS inertial navigation element and an ultrasonic module;
s2: determining a detection site: the automatic navigation and walking module is matched with a tour detection area, the tour detection area is traveled to a preset detection point for thickness measurement, and active obstacle avoidance is realized through the automatic obstacle avoidance module in the tour process;
s3: removing the space gap: the method comprises the following steps that a water suction pump sucks liquid of a water tank to a water injection hole of a thin film fixing plate, thin water films are attached to the upper surface and the lower surface of a protective film through a runner structure and formed on the upper surface and the lower surface of the protective film, the upper thin water film is filled between the protective film and a thickness gauge probe piece, an air gap between the thickness gauge probe piece and the protective film is removed, the lower thin water film is filled between an asphalt layer and the protective film, and a gap between the protective film and the asphalt layer is removed;
s4: and (3) thickness detection: the driving module drives the detection module to descend to contact the asphalt layer and compress the elastic component through continuous descending, so that the probe piece of the thickness gauge is pressed against the asphalt layer, meanwhile, the induction sheet moves upwards relative to the rack body along with the compression of the elastic component, the distance between the moving platform and the induction sheet is continuously shortened until the first induction module triggers the switch to act, and at the moment, the driving module stops driving the detection module to descend;
s5: obtaining the thickness of the waterproof layer: repeating the step S4, testing the detection module at the same position for multiple times, acquiring waterproof layer thickness values measured for multiple times, and taking the average value of different waterproof layer thickness values as a final value;
s6: detection of other probe sites: after the detection of one site is finished, the driving module drives the detection module to ascend and recover, when the detection module ascends to trigger the switch action of the second induction module, the ascending is stopped, and the walking device moves to the next detection site;
s7: and (3) data output: after the detection of the whole detection area is completed, each corresponding thickness data of the corresponding detection position is generated into a file or a table form which can be conveniently called by a customer.
In one embodiment, in the step S5, when the difference between the waterproof layer thickness values read from the same position is greater than the error value, the detection is performed again.
The invention has the following beneficial effects:
the thickness measuring robot provided by the invention has reasonable structural design and high automation degree, can automatically detect the thickness of a sizing coating at different positions according to actual needs, has high detection efficiency, the detection module is used for detecting the thickness of a waterproof layer, when ultrasonic waves fly to an interface between two detected layers, the detected layers are metal layers or nonmetal layers, echoes are generated due to the density difference and acoustic impedance mutation, the coating thickness can be obtained by calculating through measuring the time difference of the echoes, the nondestructive thickness measurement is realized, the feasibility is high, the thickness measuring robot is suitable for being used in a construction site, the driving module and the detection module are matched with each other for detection, the detection effect is good, the adaptability is high, the first induction module is arranged on the detection module, the second induction module is arranged at the position of the driving module for inducing the detection module, and the protection module and the detection module are arranged correspondingly, the space gap is removed by supplying water to the transparent protective film, so that the detection deviation caused by the air gap is avoided, and the detection precision is greatly improved.
Drawings
Fig. 1 is a schematic perspective view of a thickness measuring robot according to the present invention;
fig. 2 is a schematic perspective view of a traveling device of the thickness measuring robot in fig. 1;
FIG. 3 is a perspective view of the walking device of FIG. 1 from another perspective;
FIG. 4 is a partial perspective view of the walking device of FIG. 1;
FIG. 5 is a schematic structural diagram of the adaptive probe device of FIG. 1;
FIG. 6 is a schematic partial perspective view of the adaptive probe device of FIG. 5;
FIG. 7 is a front view of the adaptive probe device of FIG. 6;
FIG. 8 is an exploded perspective view of the detecting module shown in FIG. 6;
FIG. 9 is a schematic structural diagram of a protection film of the inspection module shown in FIG. 8;
FIG. 10 is a schematic structural view of the thickness measuring robot of FIG. 1 before filling with water;
FIG. 11 is a schematic view of the thickness measuring robot of FIG. 1 after being filled with water;
FIG. 12 is a table of data for a single point measurement of the thickness of the 2.4mm coating layer of the thickness measuring robot of FIG. 1;
FIG. 13 is a table of data for a single point measurement of the thickness of the 4mm coating layer of the thickness measuring robot of FIG. 1.
Description of reference numerals:
the thickness measuring robot 100, the traveling device 10, the rack body 11, the bottom plate 11a, the fixing plate 11b, the traveling module 12, the driven wheel 121, the driving wheel 122, the traveling driving member 123, the driver 124, the automatic obstacle avoidance module 13, the first probe fixing seat 131, the second probe fixing seat 132, the first detecting member 133, the second detecting member 134, the mounting seat 14, the display module 15, the emergency stop switch 16, the adaptive probe device 20, the detection module 21, the detection probe assembly 211, the thickness gauge probe member 211a, the clamping head 211b, the probe housing 211c, the moving table 212, the bracket 213, the elastic assembly 214, the spring member 214a, the sensing piece 215, the driving module 22, the mounting plate 221, the supporting plate 222, the lifting fixing plate 223, the lifting driving member 224, the screw rod 225, the sliding rod 226, the sleeve 227, the first sensing module 23, the second sensing module 24, the protection module 30, the suction pump 31, the water tank 32, the water tank, The water injection device comprises a first water pipe 33, a second water pipe 34, a protective film 35, a flow channel structure 35a, a water injection hole 35b, a fixing element 36, a thin water film 37, a thin film fixing plate 38 and an asphalt layer 39.
Detailed Description
In order that the invention may be more fully understood, reference will now be made to the following description. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1 to 11, a thickness measuring robot and a thickness measuring method according to an embodiment of the present invention are disclosed, and the thickness measuring robot has a reasonable structural design, realizes nondestructive thickness measurement, has high feasibility, and is suitable for being used in a construction site.
In the present embodiment, the thickness measuring robot 100 includes a traveling device 10; the adaptive probe device 20 is arranged on the walking device 10; the adaptive probe device 20 comprises a detection module 21, a driving module 22, a first induction module 23, a second induction module 24 and a protection module 30; the driving module 22 is connected with the detection module 21 and used for driving the detection module 21 to ascend and descend, the first sensing module 23 is installed on the detection module 21, the second sensing module 24 is installed on the position, where the driving module 22 is used for sensing the detection module 21, of the detection module 21, and the protection module 30 is arranged corresponding to the detection module 21.
As shown in fig. 1 to 4, in the present embodiment, the traveling device 10 includes a frame body 11; the walking module 12 is arranged at the bottom of the rack body 11 and used for driving the rack body 11 to move; the automatic obstacle avoidance module 13 is arranged on one side of the rack body 11 and used for being matched with the walking module 12; in this embodiment, frame body 11 is used for overall structure's connection installation to use, and walking module 12 is installed and is used for driving frame body 11 walking at frame body 11, has realized automatic detection, strong adaptability, and detection effect is good, keeps away automatically that barrier module 13 installs and be used for cooperating with walking module 12 in frame body 11 one side, keeps away automatically that barrier module 13 is used for visiting the road conditions in highway section, visits effectually, and the accuracy is high for frame body 11 is difficult for falling down.
The rack body 11 comprises a bottom plate 11a, and the bottom plate 11a is installed on the rack body 11; the fixed plate 11b is mounted on the frame plate body, and the automatic obstacle avoidance module 13 is mounted on the fixed plate 11 b; the walking module 12 comprises a driven wheel 121, and the driven wheel 121 is mounted on the frame body 11; the number of the driving wheels 122 is at least two; the walking driving member 123 is used for driving the driving wheel 122 to rotate so as to drive the driven wheel 121 to rotate; specifically, the walking driving member 123 drives the two sets of driving wheels 122 to rotate, so as to drive the driven wheels 121 to rotate, thereby realizing the movement of the rack body 11; in a preferred embodiment, the driven wheel 121 is a universal wheel, so that the direction of rotation can be changed during the movement of the frame body 11.
The walking module 12 comprises a driver 124, the driver 124 is installed on the rack body 11 and is arranged corresponding to the walking driving element 123, and the driver 124 is used for controlling the walking driving element 123 to work, so that the walking module 12 can be started stably.
The automatic obstacle avoidance module 13 comprises a first probe fixing seat 131 and a second probe fixing seat 132, and the first probe fixing seat 131 and the second probe fixing seat 132 are mounted on the fixing plate 11 b; the first probe 133 is mounted on the first probe fixing seat 131 for observing road conditions, and the second probe 134 is mounted on the second probe fixing seat 132 for cliff detection; in this embodiment, the first detecting members 133 are preferably three groups of first ultrasonic probes for observing road conditions, and the second detecting members 134 are preferably one group of second ultrasonic probes for detecting cliffs and preventing the thickness measuring robot from being damaged by falling, so that the detecting effect is good, the accuracy is high, and the rack body 11 is not easy to fall down during moving.
The walking device 10 further comprises a mounting seat 14 and a display module 15, the mounting seat 14 is mounted on the fixing plate 11b and used for fixing the display module 15, and the display module 15 is used for displaying the detection effect of the thickness of the glue coating; the traveling device 10 further comprises an emergency stop switch 16, the emergency stop switch 16 is mounted on the frame body 11, and when the thickness measuring robot 100 encounters an emergency, a measure for protection can be achieved by quickly pressing the emergency stop switch 16.
As shown in fig. 5 to 11, it should be noted that the detecting module 21 includes a detecting probe assembly 211; the mobile station 212, the mobile station 212 is in driving connection with the driving module 22, the driving module 22 drives the mobile station 212 to move up and down, so that the adaptive probe device 20 can adapt to road sections with different conditions, and the first sensing module 23 is installed at the bottom of the mobile station 212; the bracket 213, the bracket 213 is sleeved on the periphery of the detection probe assembly 211; the sensing piece 215, the sensing piece 215 is sleeved on the periphery of the detection probe assembly 211; and a resilient member 214, the resilient member 214 connecting the mobile station 212 and the support 213; in particular, as an alternative embodiment, the number of the elastic elements 214 is preferably three, and the sensing plate 215 is disposed in a triangular shape, so that the stability of the three groups of elastic elements 214 is better, and when the driving module 22 drives the detecting probe assembly 211 to press down, the support 213 smoothly shortens the distance from the moving stage 212.
Specifically, the inspection probe assembly 211 includes a thickness gauge probe piece 211 a; the clamping head 211b is sleeved on the periphery of the thickness gauge probe piece 211 a; and a probe housing 211c, the probe housing 211c being disposed between the gripper head 211b and the thickness gauge probe piece 211 a; in this embodiment, a detection inductive switch (not shown) is arranged in the probe piece 211a of the thickness gauge, when the probe piece 211a of the thickness gauge generates pressure with the waterproof layer and retracts for a short distance to reach a threshold value, a detection action is triggered, the probe starts to detect, and the detection effect is good.
Further, the resilient member 214 includes a first positioning post, which is mounted on the mobile station 212; the second positioning column is arranged on the bracket 213; and a spring member 214a, the spring member 214a connecting the first positioning post and the second positioning post; in this embodiment, the first positioning column and the second positioning column have a good fixing effect on the spring element 214 a.
The driving module 22 includes a mounting plate 221; the number of the support plates 222 is two, and the two support plates 222 are mounted on the mounting plate 221; a lifting fixing plate 223, the lifting fixing plate 223 being mounted on the support plate 222; a lifting/lowering driver 224, the lifting/lowering driver 224 being mounted on the lifting/lowering fixing plate 223; the lifting driving piece 224 is in driving connection with the screw rod 225 so as to drive the mobile station 212 to lift; in operation, the lifting driving member 224 drives the screw 225 to rotate, thereby driving the movable stage 212 to move up and down, and further via the spring connected to the movable stage 212
The assembly 214 realizes the lifting of the detection probe assembly 211, and has good lifting effect, stability and reliability.
Preferably, the driving module 22 includes a sliding rod 226, the sliding rod 226 is mounted on the mounting plate 221 and abuts against the lifting fixing plate 223; and the sleeve 227 is arranged on the mobile platform 212 and is in sliding fit with the sliding rod 226, and the lifting driving piece 224 adds the structures of the sliding rod 226 and the sleeve 227 in the process of driving the mobile platform 212 to move up and down, so that the stability of the lifting process of the mobile platform 212 is further improved.
The first sensing module 23 includes a plurality of sets of first sensing switches, in this embodiment, the number of the first sensing switches is two, and the first sensing switches are installed at the bottom of the mobile station 212 for sensing the relative positions of the sensing pieces 215; the second sensing module 24 includes a second sensing switch, which is mounted on the lifting fixing plate 223 for sensing the relative position of the movable stage 212.
As an optional implementation mode, the first inductive switch and the second inductive switch are both non-contact inductive switches, and the inductive effect is good.
It should be noted that the protection module 30 includes a water pump 31, and the water pump 31 is mounted on the lifting fixing plate 223; one end of the water tank 32 is connected with one end of the water suction pump 31, and the other end of the water suction pump 31 is connected with the thickness gauge probe piece 211 a; the protective film 35 is arranged at the bottom of the thickness gauge probe piece 211a, and a flow channel structure 35a is formed in the protective film 35; the film fixing plate 38 is mounted on the clamping head 211b and used for fixing the protective film 35, the film fixing plate 38 is provided with a detection cavity and a water injection hole 35b, and the protective film 35 is fixed on the film fixing plate 38 and covers the detection cavity; the fixing element 36 is used for fixing the protective film 35 on the film fixing plate 38, wherein the protective film 35 is a soft transparent protective film 35 which can be easily attached to a surface to be measured, measured data are more accurate, and material adhesion is not easy to occur, and the protective film 35 plays a certain role in protecting the probe piece 211a of the thickness gauge, has a good protection effect and is not easy to damage; the protection module 30 comprises a first water pipe 33, and the first water pipe 33 is connected with the water suction pump 31 and the water tank 32; and a second water pipe 34, the second water pipe 34 connecting the water pump 31 and the water injection hole 35b of the membrane fixing plate 38; in the detection process, the water pump 31 pumps the liquid in the water tank 32 to the protective film 35, thin water films 37 are attached to and formed on the upper and lower surfaces of the protective film 35 through the flow channel structure 35a, the upper thin water film 37 fills the space between the protective film 35 and the thickness gauge probe piece 211a, an air gap between the thickness gauge probe piece 211a and the protective film 35 is removed, the lower thin water film 37 fills the space between the asphalt layer 39 and the protective film 35, and the gap between the protective film 35 and the asphalt layer 39 is removed, in this embodiment, the liquid is pure water, the existence of the liquid in the thickness gauge probe piece 211a and the protective film 35 is maintained, during operation, the water pump 31 pumps the liquid in the water tank 32 through the first water pipe 33, and then the pure water is conveyed to the water injection hole 35b of the film fixing plate 38 through the second water pipe 34, and the space gap is removed by supplying water to the transparent protective film 35, so that the detection deviation caused by the air gap is avoided, the detection precision is high.
The working principle is as follows: when the automatic navigation and walking module is in work, the automatic navigation and walking module is matched with a tour detection area, the automatic navigation and walking module moves to a preset detection point for thickness measurement, at the moment, the lifting driving piece 224 structurally rotates through the driving screw 225, so that the moving platform 212 is driven to move up and down, and the elastic component 214 is respectively connected with the moving platform 212 and the detection probe component 211, so that the detection probe component 211 is driven to lift up and down when the moving platform 212 moves up and down, and the measurement is realized; when the driving module 22 drives the detection probe assembly 211 to press down, the thickness gauge probe piece 211a contacts the asphalt layer 39 and continuously descends to compress the elastic component 214, so that the thickness gauge probe piece 211a presses the asphalt layer 39, the distance between the movable table 212 and the sensing sheet 215 is continuously reduced in the pressing process until the first sensing module 23 triggers the switch to act, and the lifting driving piece 224 stops driving the movable table 212 to descend; after completing a point location detection, the lifting driving member 224 drives the detection probe assembly 211 to ascend and recover, when the second sensing module 24 is triggered by the lifting driving member, the lifting limiting is reached, the lifting is stopped, and the traveling device 10 travels to the next detection point.
A thickness detection method comprises the following steps:
s1: determining a detection area: scanning, drawing and path planning are carried out on the whole construction area according to detection requirements by means of a GPS inertial navigation element and an ultrasonic module;
s2: determining a detection site: the automatic navigation and walking module 12 is matched with a tour detection area, the tour detection area is traveled to a preset detection point for thickness measurement, and active obstacle avoidance is realized through the automatic obstacle avoidance module 13 in the tour process;
s3: removing the space gap: the water pump 31 pumps the liquid in the water tank 32 into the water injection hole 35b of the film fixing plate 38, the thin water films 37 are attached to and formed on the upper and lower surfaces of the protective film 35 through the flow channel structure 35a, the upper thin water film 37 fills the space between the protective film 35 and the thickness gauge probe piece 211a, the air gap between the thickness gauge probe piece 211a and the protective film 35 is removed, the lower thin water film 37 fills the space between the asphalt layer 39 and the protective film 35, and the gap between the protective film 35 and the asphalt layer 39 is removed;
s4: and (3) thickness detection: the driving module 22 drives the detection module 21 to descend to contact the asphalt layer 39 and compress the elastic component 214 through continuous descending, so that the probe piece 211a of the thickness gauge presses the asphalt layer 39, meanwhile, the sensing piece 215 moves upwards relative to the rack body 11 along with the compression of the elastic component 214, the distance between the moving table 212 and the sensing piece 215 is continuously shortened until the first sensing module 23 triggers the switch to act, and at the moment, the driving module 22 stops driving the detection module 21 to descend;
s5: obtaining the thickness of the waterproof layer: repeating the step S4, testing the detection module 21 at the same position for multiple times, acquiring waterproof layer thickness values measured for multiple times, and taking the average value of different waterproof layer thickness values as a final value;
s6: detection of other probe sites: after the detection of one site is completed, the driving module 22 drives the detection module 21 to ascend and recover, when the detection module 21 ascends to trigger the switch action of the second induction module 24, the ascending is stopped, and the walking device 20 moves to the next detection site;
s7: and (3) data output: after the detection of the whole detection area is completed, each corresponding thickness data of the corresponding detection position is generated into a file or a table form which can be conveniently called by a customer.
In step S5, when the difference between the multiple waterproof layer thickness values read at the same position is greater than the error value, the detection is performed again.
In this embodiment, in step S1, by using the GPS inertial navigation element and the ultrasonic module, the whole construction area is scanned, mapped and routed according to the detection requirement, and the thickness measurement robot 100 can be placed in any space divided by the wall body capable of accommodating the robot, so that the full-automatic mapping is realized, the mapping effect is good, and the whole area to be detected can be traced; compared with the traditional detection scheme, the drawing of the region needs to be led in, and secondary composition is carried out; the base station is matched for selling, the position between the base station and the robot is positioned and interacted, the use is complex, the automation degree is low, the complexity of secondary composition is saved, and the automation degree is improved; meanwhile, the price gradient of matching sale between the base station and the robot and the coupling complexity of the scheme are also saved.
As shown in FIG. 12, the data in the table is a statistics of a single point 2.4mm coating thickness standard block, the first measurement is 2580um, the second measurement is 2520um, the third measurement is 2480um, the fourth measurement is 2480um, and the average is 2520 um.
As shown in FIG. 13, the statistics of the single point 4mm double coating thickness standard block with the table data b, the first measured data is 4160um, the second measured data is 4120um, the third measured data is 4360um, the fourth measured data is 4100um, and the average value is 4185 um.
The thickness measuring robot has reasonable structural design and high automation degree, can automatically detect the thickness of a sizing coating at different places according to actual needs, has high detection efficiency, the detection module 21 is used for detecting the thickness of a waterproof layer, when ultrasonic waves fly to an interface between two detected layers, the detected layers are metal layers or nonmetal layers, echoes are generated due to the difference of density and abrupt change of acoustic impedance, the thickness of the coating can be obtained by calculating through measuring the time difference of the echoes, the thickness can be measured without damage, the feasibility is high, the thickness measuring robot is suitable for being used in a construction site, the driving module 22 is matched with the detection module 21 for detection, the detection effect is good, the adaptability is high, the first induction module 23 is arranged on the detection module 21, the second induction module 24 is arranged at the position of the driving module 22 for inducing the detection module 21, and the protection module 30 is arranged corresponding to the detection module 21, the space gap is removed by supplying water to the transparent protective film 35, so that the detection deviation caused by the air gap is avoided, and the detection precision is greatly improved.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A thickness measuring robot, comprising:
a traveling device; and
the self-adaptive probe device is arranged on the walking device;
the adaptive probe device includes:
a detection module;
the driving module is connected with the detection module and is used for driving the detection module to move towards the detected object;
the first sensing module is mounted on the detection module;
the second sensing module is arranged on the driving module and used for sensing the position of the detection module; and
a protection module; the protection module and the detection module are correspondingly arranged.
2. The thickness measuring robot according to claim 1, wherein the traveling device comprises:
a frame body;
the walking module is mounted at the bottom of the rack body and used for driving the rack body to move; and
and the automatic obstacle avoidance module is arranged on one side of the frame body and is used in cooperation with the walking module.
3. The thickness measuring robot of claim 1, wherein the detection module comprises:
a detection probe assembly;
the mobile station is in driving connection with the driving module, and the first sensing module is mounted at the bottom of the mobile station;
the bracket is sleeved on the detection probe assembly;
the sensing piece is sleeved on the detection probe assembly; and
an elastic member connecting the mobile station with the support.
4. A thickness measuring robot according to claim 3, wherein the inspection probe assembly comprises:
a thickness gauge probe member;
the clamping head is sleeved on the probe piece of the thickness gauge; and
and the probe shell is arranged between the clamping head and the probe piece of the thickness gauge.
5. A thickness measuring robot according to claim 3, wherein the resilient member comprises:
a first positioning column mounted to the mobile station;
the second positioning column is arranged on the support; and
a spring member connecting the first positioning post with the second positioning post.
6. A thickness measuring robot according to claim 3, wherein the driving module comprises:
mounting a plate;
the number of the supporting plates is at least two, and the two groups of supporting plates are arranged on the mounting plate;
the lifting fixing plate is arranged on the supporting plate;
the lifting driving piece is arranged on the lifting fixing plate;
the lifting driving piece is in driving connection with the screw rod so as to drive the mobile platform to lift;
the sliding rod is mounted on the mounting plate and is abutted to the lifting fixing plate; and
the sleeve is arranged on the mobile station and is in sliding fit with the sliding rod.
7. The thickness measuring robot according to claim 6, wherein the first sensing module comprises a plurality of sets of first sensing switches, and the first sensing switches are mounted at the bottom of the mobile platform and used for sensing the relative positions of the sensing pieces; the second induction module comprises a second induction switch, and the second induction switch is installed on the lifting fixing plate and used for inducing the relative position of the mobile station.
8. A thickness measuring robot according to claim 6, wherein the protection module comprises:
the water suction pump is mounted on the lifting fixing plate;
the protective film is arranged at the bottom of the detection probe assembly, the protective film is a soft transparent protective film, and a flow channel structure is arranged on the protective film;
one end of the water suction pump is connected with the water tank, the other end of the water suction pump is connected with the protective film, and the water suction pump pumps liquid in the water tank to the protective film;
the film fixing plate is arranged on the clamping head and used for fixing the protective film, the film fixing plate is provided with a detection cavity and a water injection hole, and the protective film is fixed on the film fixing plate and covers the detection cavity; and
a fixing element for fixing the protective film on the film fixing plate.
9. A thickness detection method based on the thickness measuring robot of any one of claims 1 to 8, the thickness detection method comprising the steps of:
s1: determining a detection area: scanning, drawing and path planning are carried out on the whole construction area according to detection requirements by means of a GPS inertial navigation element and an ultrasonic module;
s2: determining a detection site: the automatic navigation and walking module is matched with a tour detection area, the tour detection area is traveled to a preset detection point for thickness measurement, and active obstacle avoidance is realized through the automatic obstacle avoidance module in the tour process;
s3: removing the space gap: the method comprises the following steps that a water suction pump sucks liquid of a water tank to a water injection hole of a thin film fixing plate, thin water films are attached to the upper surface and the lower surface of a protective film through a runner structure and formed on the upper surface and the lower surface of the protective film, the upper thin water film is filled between the protective film and a thickness gauge probe piece, an air gap between the thickness gauge probe piece and the protective film is removed, the lower thin water film is filled between an asphalt layer and the protective film, and a gap between the protective film and the asphalt layer is removed;
s4: and (3) thickness detection: the driving module drives the detection module to descend to contact the asphalt layer and compress the elastic component through continuous descending, so that the probe piece of the thickness gauge is pressed against the asphalt layer, meanwhile, the induction sheet moves upwards relative to the rack body along with the compression of the elastic component, the distance between the moving platform and the induction sheet is continuously shortened until the first induction module triggers the switch to act, and at the moment, the driving module stops driving the detection module to descend;
s5: obtaining the thickness of the waterproof layer: repeating the step S4, testing the detection module at the same position for multiple times, acquiring waterproof layer thickness values measured for multiple times, and taking the average value of different waterproof layer thickness values as a final value;
s6: detection of other probe sites: after the detection of one site is finished, the driving module drives the detection module to ascend and recover, when the detection module ascends to trigger the switch action of the second induction module, the ascending is stopped, and the walking device moves to the next detection site;
s7: and (3) data output: after the detection of the whole detection area is completed, each corresponding thickness data of the corresponding detection position is generated into a file or a table form which can be conveniently called by a customer.
10. The method according to claim 9, wherein in the step S5, when the difference between the waterproof layer thickness values read from the same position is larger than the error value, the detection is performed again.
CN202111286362.8A 2021-11-02 2021-11-02 Thickness measuring robot and thickness detecting method Active CN113819871B (en)

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